KR102422496B1 - 로봇 수술 시스템에서의 수술 중 도구의 교환 - Google Patents

로봇 수술 시스템에서의 수술 중 도구의 교환 Download PDF

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KR102422496B1
KR102422496B1 KR1020217023449A KR20217023449A KR102422496B1 KR 102422496 B1 KR102422496 B1 KR 102422496B1 KR 1020217023449 A KR1020217023449 A KR 1020217023449A KR 20217023449 A KR20217023449 A KR 20217023449A KR 102422496 B1 KR102422496 B1 KR 102422496B1
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South Korea
Prior art keywords
manipulator
imaging device
tool
joint
freedom
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KR1020217023449A
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Korean (ko)
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KR20210096307A (ko
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니엘스 스마비
그레고리 2세 다크스
니콜라 디올라이티
푸쉬카르 힝웨
토마스 알. 닉슨
브루스 엠. 스케나
니티쉬 스와루프
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인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
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Priority to KR1020227024284A priority Critical patent/KR102540134B1/ko
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/10—File systems; File servers
    • G06F16/11—File system administration, e.g. details of archiving or snapshots
    • G06F16/113—Details of archiving
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/21—Design, administration or maintenance of databases
    • G06F16/214—Database migration support
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Theoretical Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • General Business, Economics & Management (AREA)
  • Human Computer Interaction (AREA)
  • Epidemiology (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Primary Health Care (AREA)
  • Business, Economics & Management (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
  • Information Retrieval, Db Structures And Fs Structures Therefor (AREA)
KR1020217023449A 2013-03-15 2014-03-18 로봇 수술 시스템에서의 수술 중 도구의 교환 KR102422496B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020227024284A KR102540134B1 (ko) 2013-03-15 2014-03-18 로봇 수술 시스템에서의 수술 중 도구의 교환

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201361793227P 2013-03-15 2013-03-15
US61/793,227 2013-03-15
KR1020157026175A KR102283176B1 (ko) 2013-03-15 2014-03-18 로봇 수술 시스템에서의 수술 중 도구의 교환
PCT/US2014/031044 WO2014146090A1 (en) 2013-03-15 2014-03-18 Inter-operative switching of tools in a robotic surgical system

Related Parent Applications (1)

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KR1020157026175A Division KR102283176B1 (ko) 2013-03-15 2014-03-18 로봇 수술 시스템에서의 수술 중 도구의 교환

Related Child Applications (1)

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KR1020227024284A Division KR102540134B1 (ko) 2013-03-15 2014-03-18 로봇 수술 시스템에서의 수술 중 도구의 교환

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KR20210096307A KR20210096307A (ko) 2021-08-04
KR102422496B1 true KR102422496B1 (ko) 2022-07-20

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KR1020227024284A KR102540134B1 (ko) 2013-03-15 2014-03-18 로봇 수술 시스템에서의 수술 중 도구의 교환
KR1020157026175A KR102283176B1 (ko) 2013-03-15 2014-03-18 로봇 수술 시스템에서의 수술 중 도구의 교환
KR1020217023449A KR102422496B1 (ko) 2013-03-15 2014-03-18 로봇 수술 시스템에서의 수술 중 도구의 교환

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KR1020227024284A KR102540134B1 (ko) 2013-03-15 2014-03-18 로봇 수술 시스템에서의 수술 중 도구의 교환
KR1020157026175A KR102283176B1 (ko) 2013-03-15 2014-03-18 로봇 수술 시스템에서의 수술 중 도구의 교환

Country Status (6)

Country Link
US (7) US9504527B2 (ja)
EP (3) EP2969409B1 (ja)
JP (2) JP6433481B2 (ja)
KR (3) KR102540134B1 (ja)
CN (1) CN105050528B (ja)
WO (1) WO2014146090A1 (ja)

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